Global Reconfiguration of a Team of Networked Mobile Robots Among Obstacles

  • Robert FitchEmail author
  • Alen Alempijevic
  • Thierry Peynot
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


This paper presents a full system demonstration of dynamic sensor-based reconfiguration of a networked robot team. Robots sense obstacles in their environment locally and dynamically adapt their global geometric configuration to conform to an abstract goal shape. We present a novel two-layer planning and control algorithm for team reconfiguration that is decentralised and assumes local (neighbour-to-neighbour) communication only. The approach is designed to be resource-efficient and we show experiments using a team of nine mobile robots with modest computation, communication and sensing. The robots use acoustic beacons for localisation and can sense obstacles in their local neighbourhood using IR sensors. Our results demonstrate globally specified reconfiguration from local information in a real robot network, and highlight limitations of standard mesh networks in implementing decentralised algorithms.


Team reconfiguration Networked robots Multi-robot systems  Decentralised navigation function 



This work was supported in part by the Australian Centre for Field Robotics (ACFR) and the NSW State Government.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Robert Fitch
    • 1
    Email author
  • Alen Alempijevic
    • 2
  • Thierry Peynot
    • 1
    • 3
  1. 1.Australian Centre for Field RoboticsThe University of SydneySydneyAustralia
  2. 2.University of Technology SydneySydneyAustralia
  3. 3.School of Electrical Engineering and Computer ScienceQueensland University of TechnologyBrisbaneAustralia

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